ES2861601T3 - Vision system for detecting the environment of a vehicle - Google Patents

Abstract

Vision system (100, 200) for a vehicle (1) with a traction unit (2) and a trailer (3), containing: a registration unit (10) with at least one image sensor (12) for recording a viewing area (40) around the vehicle in the form of image data, the recording unit (10) being able to be mounted on the traction unit (2), at least one processing unit (20) for processing the image data recorded by the recording unit (10), and at least one reproduction unit (30) for reproducing at least a first image crop (410) and a second image crop (420) of the viewing area (40 ) registered by the registration unit (10), wherein, if the traction unit (2) and the trailer (3) are fundamentally aligned with each other in the longitudinal direction of the vehicle (1), the processing unit (20) takes, from the viewing area (40) of the at least one image sensor (12), the first image crop (410) in a first original position ( A) and the second image crop (420) in a second original position (B), and where, if the traction unit (2) and the trailer (3) are arranged at an angle fundamentally not equal to 0 ° the relative to each other, the processing unit (20) takes, from the viewing area (40) of the at least one image sensor (12), the first image crop (410) in a first modified position (A ') and / or the second image clipping (420) in a second modified position, and the resolution of the first image clipping (410) being in the original position (A) and in the modified position (A ') in the reproduction unit ( 30) greater than the resolution of the second image crop (420) in the original position (B) and in the modified position in the reproduction unit (30), the image recording unit (10) presenting a single camera (11 ), the single camera (11) presenting a single image sensor (12).

Description

DESCRIPTION

Vision system for detecting the environment of a vehicle

The invention relates to a vision system for detecting the environment around a vehicle, in particular a commercial vehicle with a semi-trailer, trailer, trailer or other section that can pivot with respect to the driver's cab and extends rearward.

Mirrors are known from the state of the art which can either be mounted on the outside of the driver's cab or on a traction unit. In the case of the rear-view mirrors, with the trailer bypass, for example in the case of a cornering or a turning process, the driver can observe the environment of the vehicle around the trailer (at least partially) by means of a corresponding head movement.

In the sense of the present teaching, a trailer comprises trailers that are coupled to a vehicle (tractor or traction unit) by means of a trailer coupling, for example, semi-trailers (so-called trailers) that are placed in the rear area. and lowered from a tractor and thereby pivotably connected about at least one vertical axis. Generally speaking, a trailer is a rearward-extending section that is located at the rear of the driver's cab of a vehicle and is a part of the vehicle that can be moved laterally relative to the driver's cab (which can be pivoted out), which pivots about a vertical axis in the case of a curved ride relative to the driver's cab. Articulated vehicles or articulated trains are also trailers in the sense of the invention.

Recently, vehicle mirrors have been increasingly replaced by camera systems (mirror replacement systems) or at least supplemented by camera systems. In this regard, conventional mirror systems that are prescribed for a motor vehicle are replaced or supplemented, such as, for example, exterior mirrors (main mirrors), interior mirrors in automobiles or wide-angle mirrors and front mirrors in vehicles. commercial. In the case of mirror replacement systems of this type, the driver of the vehicle is shown the corresponding vision area, which is conventionally visible through a rear-view mirror, sometimes permanently and in real time on a monitor or another reproduction unit, for example, in the interior space of the vehicle, so that the driver of the vehicle can review the corresponding viewing area at any time, although he or she neither has a direct view of the corresponding viewing area nor is a rear-view mirror provided. In addition, camera systems are used in the vehicle in the context of so-called driver assistance systems (ADAS), in which either the data recorded by the camera systems is also displayed to the driver of the vehicle, for example, depending on the existing driving situation in each case, or conversely in which the detected image data is evaluated to control other components of the vehicle, such as, for example, in the context of detection of distance and / or obstacles, road condition detection, lane departure warning systems, traffic sign detection, etc.

In particular, from the state of the art, mirror replacement systems for commercial vehicles with traction and trailer units are known, which have two or more cameras with in each case different opening angles for recording different fields of vision, usually Class II and IV fields of vision according to ECE R46. These cameras are generally connected stationary to the traction unit of the vehicle. Vision systems with two cameras are configured in such a way that, in the case of a different orientation with respect to the traction unit of the trailer, that is, the trailer is not on the longitudinal axis of the traction unit, at least one of the two cameras for detecting the environment of the vehicle is pivoted around a vertical axis (normal axis) in the case of a horizontal state of the vehicle. However, a pivoting mechanism is prone to damage due to environmental influences and mechanical influences, such as, for example, vibrations. Alternatively, in the case of using vision systems with two cameras with different orientation with respect to the trailer drive unit, the environment of the vehicle to be detected is cut off from the camera's viewing area for the large area. wide angle and is displayed enlarged on a monitor. However, the camera for the wide-angle area has a low basic resolution due to the large image registration angle, which is why the cropped image area of the wide-angle area also has a low resolution, which does not allow any evaluation. Reliable vehicle environment. In addition, as an alternative, in the case of vision systems with two cameras, the area of view of the camera for the main field of view is digitally pivoted within the main field of view, whereby, however, only one camera is possible. Restricted detection of the vehicle environment and extreme articulation angles between the traction unit and the trailer are sometimes not detected due to a limited maximum registration angle of the camera.

A vision system having two cameras for recording two different fields of vision and at least one monitor for reproducing the fields of vision is known, for example, from DE 102015218033 A1. In this regard, the vision system disclosed there is suitable in such a way that it adapts the monitor image in such a way that sufficient rearward visibility is still ensured. The adaptation of the image of the monitor is carried out either by means of a mechanical pivoting of the respective camera and, therefore, the registration field of the camera, or by means of the movement of an image registration displayed on the monitor. the respective image from the camera through the use of appropriate computing and control apparatus and image processing programs. Additional vision systems are known from DE 102013214368 A1, EP 2 623374 A1, DE 102014006153 A1 and DE 102010032411 A1.

Document DE102013214368 A1 discloses a vision system for a vehicle with a traction unit 2 and a trailer 3, containing: a recording unit with an image sensor for recording a vision area 4 around the vehicle in the form of data from image for processing the image data recorded by the recording unit, and a reproducing unit for reproducing a first image crop of the viewing area recorded by the recording unit, wherein, if the traction unit 2 and the trailer 3 are fundamentally aligned with each other in the longitudinal direction of the vehicle, the processing unit takes, from the viewing area 4 of the image sensor, the first image crop in a first original position (illustration 1), and where, if the unit drive 2 and trailer 3 are arranged at an angle essentially not equal to 0 ° to each other, the processing unit takes, from the viewing area 4 of an image sensor, the first crop image e in a first modified position (illustration 3).

Document EP 2623374 A1 discloses a vision system for a vehicle with a traction unit and a trailer containing: a recording unit 43 with at least one image sensor for recording a vision area around the vehicle in the form of data from image, the recording unit 43 being able to be placed in the traction unit, a processing unit 30 for processing the image data recorded by the recording unit 43, and a reproducing unit 20 for reproducing a first image clipping 51 and a second image crop 52 of the viewing area recorded by the registration unit 53, wherein, if the traction unit and the trailer are fundamentally aligned with each other in the longitudinal direction of the vehicle (see figures), the processing unit 30 takes, from the viewing area of an image sensor, the first image clipping 51 in a first original position and the second image clipping 52 in a second original position, the re solution of the first image clipping 51 in the original position in the reproduction unit 20 greater than the resolution of the second image clipping 52 in the original position (see paragraphs [0032]), the image recording unit presenting a single camera 53, the single camera 53 presenting a single image sensor 53.

However, in the case of vehicles with camera systems and trailers, there is a problem that the driver cannot sufficiently monitor an area to the side of the vehicle in the case of a different orientation of the trailer relative to the vehicle, that is, in the case of different angles of the longitudinal axis of the vehicle with respect to the longitudinal axis of the trailer, since a movement of the head in the case of the use of camera systems does not result in a displacement in the area of the environment detected by the camera.

Starting from this, the aim of the present invention is to provide a camera-based vision system for a vehicle, in particular a utility vehicle with a traction and trailer unit, which guarantees the driver at all times a reliable assessment of the environment around the vehicle. , particularly around the trailer.

The above objective is solved by a vision system according to claim 1, a vision system arrangement according to claim 14 and a mirror replacement system according to claim 15. Preferred embodiments are indicated in the sub-claims.

The invention is based on the idea of providing a vision system for a vehicle with a traction unit and a trailer, which contains a recording unit with at least one image sensor to record a vision area around the vehicle in the form of image data, at least one processing unit for processing the image data recorded by the recording unit, and at least one reproducing unit for reproducing a first image crop and a second image crop of the registered viewing area by the unit of record. The registration unit can be placed in the traction unit stationary and fixed in position or is positioned in this, that is, the registration unit has exactly one predefined operating position relative to the unit of operation. traction. The processing unit is configured in such a way that, if the traction unit and the trailer are essentially aligned with each other in the longitudinal direction of the vehicle, that is, the angle between the traction unit and the trailer amounts to 0 °, it takes , of the viewing area of the at least one image sensor, the first image clipping in a first original position and the second image clipping in a second original position and, if the traction unit and the trailer are arranged at an angle fundamentally not equal to 0 ° relative to each other, it takes, from the viewing area of the at least one image sensor, the first image crop in a first modified position and / or the second image crop in a second modified position. In this regard, the resolution of the first image clipping in the original position and in the modified position in the reproduction unit is always higher than the resolution of the second image clipping in the original position and in the modified position in the playback unit. reproduction.

Therefore, the vision system according to the invention is based on the idea of extracting at least two image clipping, that is, at least a first and a second image clipping, from a single viewing area registered by the image recording unit, the positions of which within the viewing area of the image sensor vary depending on the position of the trailer relative to the traction unit. Whether the vehicle is traveling in a straight line or reversing in a straight line, if the trailer is arranged in each case in the longitudinal direction of the vehicle with the traction unit fundamentally aligned behind it and the angle between the traction unit and the trailer rises to approximately 0 °, the two image clippings displayed on the reproduction unit are in each case in an original position, which enables the driver to reliably observe and assess the environment around the vehicle and, in particular, the trailer . In the case of cornering, such as, for example, in the case of cornering on the ground, a turning process or a maneuvering process, the trailer drifts. This results in a different orientation of the trailer relative to the traction unit. The traction unit and the trailer then enclose an angle not equal to 0 °, in particular one that clearly deviates from 0 °. In order to ensure that the driver can reliably see the surroundings around the trailer as before, the processing unit takes from the viewing area at least one of the at least two image clippings, that is, either the first or second image crop, in a modified position within the viewing area. In other words, in the case of trailer bypass, the processing unit either cuts or extracts an image in each case at a different point in the viewing area of the image recording unit or the image sensor, which makes it possible a reliable assessment for the driver of the environment around the trailer even in the case of the branch trailer arranged at an angle to the traction unit. By the term "viewing area" is to be understood the sensor surface on which the environment of the vehicle is recorded and therefore projected, that is, the processing unit takes the areas of different locations of the image sensor in the original or modified state.

The term "fundamentally aligned" refers not only to an exactly aligned arrangement of the traction unit and the trailer (that is, an arrangement in which the angle between the traction unit and the trailer amounts to exactly 0 °), but also to an arrangement of the traction unit and the trailer that includes small deviations of 0 ° and is thus not strictly limited to exactly 0 °, preferably 40 °, more preferably 30 ° and even more preferably 15 °. The deviations, which are to be subsumed under the term "fundamentally aligned", depend on various operating parameters, such as steering angle or speed and are thus dependent on the corresponding operating situation and are thus variable. Similarly, the term "fundamentally not equal to 0 °" is not restricted to all angles that deviate from 0 °, but rather refers to angles that are determined as angles depending on the input variables mentioned above, in which a detection of the vehicle environment is insufficient, preferably an angle between 90 ° (the trailer is perpendicular to the traction unit) and 40 °, more preferably 50 °, even more preferably 60 °, even more preferably 65 ° .

Herein, "grab, crop, and extract" means that a digital shift of the respective image crop is performed within the entire viewing area, such that another modified image crop, at least partially different from the original image crop, is selected. and is removed from the single viewing area of the image recording unit. Consequently, an additional image clipping is read out of the viewing area, which differs at least partially from the original image clipping. Thus, a pivoting or mechanical movement of parts of the chamber is avoided. The vision system is robust with respect to environmental influences, such as vibrations, and can be manufactured inexpensively.

The single viewing area, featuring both the first and second image cropping, is recorded "at once" by a single camera with a single sensor and suitable lens arrangement and geometry. By generating or recording a single viewing area, which features both the first and second image clipping and is designed in such a way that it still detects a vehicle environment even in the case of maximum trailer drift, it can be performed, for hence a digital pivot across the entire viewing area. As a consequence, it is possible to shift the image clipping even in the case of the maximum drift of the trailer in such a way that the environment around the rear end of the trailer in the main driving direction is still visible to the driver.

In order to always enable the driver to make a reliable assessment of the trailer environment, it is necessary that the at least one first image clipping in each position, that is to say in the original position and in a modified position, in the reproduction unit always has a resolution higher than the second or any additional image clipping on the playback unit. Therefore, the resolution of the first image clipping in the reproduction unit must always be higher than the resolution of the at least one second image clipping in the reproduction unit, namely regardless of whether only the first image clipping is taken. image in a modified position or only the second and each additional image crop is taken in a modified position or both the first and second image crop of the viewing area are taken in a modified first and second position due to a drift of the trailer. This ensures that the driver can always see the first image crop clearly enough on the playback unit.

The higher resolution in the first image clipping can be generated compared to the second image clipping in the reproduction unit by editing the image data (data processing by means of the processing unit). However, the highest resolution is preferably achieved because the viewing area of the image sensor has a high resolution with constant good quality over its entire surface and the first image crop is rendered at this high resolution on the playback unit, while that the second image clipping is reduced in size for a rendering on the reproduction unit and thus is rendered at a lower resolution than the first image clipping on the reproducing unit. In other words, the size of the second image crop during playback is reduced compared to the size of the second image crop during recording, while the size of the first image crop during playback remains the same compared to the size of the first image crop during registration, or only reduced to a certain point, which is above the reduction range of the second image crop. It is also conceivable to increase the size of the first image crop during playback compared to the first image crop during recording. In principle, it applies that the size of the second image clipping should always be scaled down during playback on the playback unit, in such a way that the resolution resulting from scaling is smaller than the resolution of the first image clipping during playback. reproduction. Due to the relative reduction of one of the image clippings displayed in the reproduction unit, a lower resolution is produced for this image than for the image clip that is less reduced relative to it.

By the term "resolution" can be understood the number of pixels on a certain surface. However, the term "resolution" should preferably be understood as "resolution with respect to pairs of lines per unit length", for example mm, as can be described by a modulation transfer function ( Modulation Transfer Function). MTF), which is defined as the ratio of image contrast to object contrast or the ratio of actual image contrast to ideal image contrast when displaying certain line patterns.

The processing unit is used for image processing or image editing (for example, the selection of suitable sizes of the first and second image clipping, so that the criterion is met that the resolution of the first image clipping in the case of a representation in the reproduction unit is always higher than the resolution of the second image clipping in the case of a representation in the reproduction unit) and can sometimes also function as a control unit for the playback unit. image registration unit and / or the reproduction unit (Vision System ECU) and receive control signals from the image registration unit and / or the reproduction unit and / or output control signals to the image registration unit. images and / or to the playback unit. Alternatively, the image recording unit and / or the reproducing unit can also be controlled by a vehicle side control unit (vehicle ECU). The processing unit is provided either separately from the image recording unit or the reproducing unit or is integrated into the image recording unit or the reproducing unit.

The playback unit can be mounted inside the driver's cab in such a way that the driver can effortlessly view it (for example, on a left or right A-pillar or in the middle) and can be a monitor, such as, for example, a TFT, LCD, OLED monitor, etc. The image recording unit can contain one or more cameras with CMOS or CCD technology.

The image recording unit has a single camera, preferably having a single image sensor with a high resolution. A single camera, in particular with a single sensor, is actively designed through the use and selection of special lens arrangements as an optical element, so that really contradictory requirements, such as, for example, a projection of wide-angle, that is, a projection with a wide image angle, and a high-resolution projection that is essentially distortion-free or low-distortion, such as, for example, a projection of the main field of view, can be achieved at the same time for the desired field of view. A camera with a single image sensor is described, for example, in DE 102017 108569 B4. A single camera has the advantage that the resolution does not change abruptly from a high resolution to a lower resolution in the case of taking a different image crop in a modified position. Other than that, no change is necessary to use the full wide-angle field of view while taking the image crop. In addition, a single camera achieves a cost-effective vision system.

The first image clipping may contain, at least in the original position, a first legally prescribed field of view and / or the second image clipping may contain a second legally prescribed field of view. In this respect, it is conceivable that, in the case of displacement of the first and / or second image clipping, the original first image clipping is still displayed as a third additional image clipping, in particular when one of the displaced image clipping It no longer projects the legally prescribed field of view and is therefore projected in addition to the legally prescribed field of view. Therefore, in the operating position of the image clipping in the original position, two image clipping corresponding to two legally prescribed fields of view are displayed. In the case of the trailer bypass, three fields of vision are then displayed, one of which corresponds to the first legally prescribed field of vision in the original position, an additional one corresponds to the first field of vision in the modified position and the last corresponds either to the legally prescribed second field of view in the original position or to the second field of view in the modified position, depending on whether the second field of view is shifted or not. In this case, the first image clipping is not shifted or is not replaced by a first image clipping in a modified position, but remains as an additional third image clipping. Furthermore, it is conceivable that, despite the trailer bypass, both the first and second image clipping in the original position are further displayed to the driver as additional image clipping, while the first and second image clipping are shifted to a modified first or second position. The display of the first and / or second image cropping in the original position can be performed on one or more additional reproduction units. However, at present, it is preferred to move the first and / or second image clipping to the corresponding modified position without simultaneous additional display of the first and / or second image clipping in the corresponding original position.

Preferably, the first legally prescribed field of view of the first image clipping contains a main field of view and / or the second legally prescribed field of view of the second image clipping contains a wide-angle field of view, as you have defined, for example , in EU Regulation ECE R46 as main field of view II and wide-angle field of view IV. The resolutions in the main field of view and the wide-angle field of view must then satisfy the requirements of ECE R46 at the operating position (minimum resolution).

Preferably, the first image clipping is positioned and oriented in the viewing area of the image sensor in such a way that it projects a part of the drive unit in the first original position, so that the driver can also observe a part of the environment next to the traction unit and has a better orientation in space. In this regard, the part of the drive unit can be represented in the main field of view and / or in the wide-angle field of view.

According to a preferred embodiment, the first image clipping in the original position and the first image clipping in the modified position have a reference point of the trailer. As a reference point, for example, the rear or front end of the trailer in the main driving direction, the rear wheel of the trailer, the last axle of the trailer, etc. can serve as a reference point.

In the case of the image clipping shift, the reference point may change relative to the image clipping, that is, change its position relative to its original position in the modified shift position. However, it is preferred that the reference point within the first image crop in the first original position and in the first modified position is in the same location on the image sensor, so that, for example, it always has the same distance from the edge of the playback unit, making it easier for the driver to position the trailer spatially in its surroundings. For example, the end of the trailer remains at a certain distance from the vertical edge of the playback unit throughout the cornering. Therefore, the reference point remains in the same location on the image sensor only in the dynamic phase of tracking the respective image crop. If the trailer drifts without shifting the crop image, i.e. in the case of reduced steering angles or a slight time lag, the reference point migrates into the original displayed image crop and thus does not remain in the same location.

Preferably, the first image clipping and the second image clipping at least partially overlap on the image sensor.

Preferably, the reproduction unit has a first display area defined for reproducing the first image crop in the first original position and a second display area defined for reproducing the second image crop in the second original position. For example, in the case of a rectangular reproduction unit, whose extension in the height-depth direction is longer than in the width direction, the first image crop may occupy 2/3 of the upper reproduction surface of the image. reproduction unit, while the second image crop can occupy 1/3 of the lower reproduction area of the reproduction unit, or the first image crop can occupy 3/4 of the upper reproduction area of the reproduction unit , while the second image crop occupies 1/4 of the lower reproduction surface of the reproduction unit. As an alternative, the two image clippings can also be arranged next to each other, that is, in an adjacent horizontally juxtaposition / contiguous arrangement. It is preferred that the first image clipping is displayed in a larger display area than the second image clipping, since it can thus be ensured that the first image clipping has a higher resolution than the second image clipping during the reproduction.

Preferably, the relationship between the size of the first defined display area and the size of the second defined display area is unchanged, in order to always enable the driver to reliably classify the environment of the vehicle projected in the display areas. However, it is also conceivable that the size of the first defined display area changes relative to the size of the second defined display area if necessary for a better projection of the vehicle environment. For example, the views of the first image crop and the second image crop, for example, the main field of view and the wide-angle field of view, can be reversed, or the division of the entire playback area of the unit The playback ratio may be altered compared to the original division when the image clippings are displayed at the original positions, such as, for example, from originally 1: 3 to 1: 4, etc.

Advantageously, the area that is projected by the first image clipping and / or the second image clipping in the modified position is arranged closer or further away from the drive unit than the area that is projected by the first image clipping. image and / or the second image crop in the original position.

Alternatively or additionally, the size of the first image crop and / or the size of the second image crop in the modified position are equal to the size of the first image crop and / or the size of the second image crop in the original position. . However, it is also conceivable that the size of the first image crop and / or the size of the second image crop in the modified position is variable (smaller or larger) compared to the size of the first image crop and / or the size of the second image crop in the original position, if this promotes better evaluability of the vehicle environment.

Alternatively or more additionally, the aspect ratio of the first image crop and / or the aspect ratio of the second image crop in the modified position are equal to the aspect ratio of the first image crop and / or the aspect ratio of the first image crop. appearance of the second image crop in the original position. However, it is also conceivable that the aspect ratio of the first image crop and / or the aspect ratio of the second image crop in the modified position is variable compared to the aspect ratio of the first image crop and / or the aspect ratio of the second image crop in the original position if this promotes better evaluability of the vehicle environment.

A variable size or a variable aspect ratio, in particular of the first image crop, is particularly advantageous when, in the case of displacement of the first and / or second image crop with respect to the modified position, the first image crop it is kept in the original position as a third additional image crop to satisfy legal requirements, in particular for a permanent display of the legally defined fields of view. Thus, in this case, it is possible to enlarge / reduce as desired the first image crop in the modified position despite the legal requirements to change its shape or aspect ratio, because the legal requirements when keeping the first image crop in the original position in addition to the first image crop is kept in the modified position.

Preferably, the first display area is adapted to reproduce the first image crop at the same time in the original and modified position, and the second display area is adapted to reproduce the second image crop. In this regard, the first image clipping in the original position may have a scale that changes in the horizontal direction perpendicular to the longitudinal axis of the vehicle than the first image clipping in the modified position. In other words, the display areas of the reproduction unit may be configured such that, in a display area arranged at the top in the assembled state of the reproduction unit, that is, the first display area, the first image clipping is shown both in the original position and in the modified position and in a field of view arranged at the top, and in a display area arranged at the bottom in the assembled state of the reproduction unit, that is, the second display area, the second image crop is displayed. In this regard, the first image clipping in the original position in the horizontal direction perpendicular to the longitudinal axis of the vehicle has a different scale than the first image clipping in the modified position in the horizontal direction perpendicular to the longitudinal axis of the vehicle. More precisely, the first image clipping is displayed in a compressed manner in the original position with respect to the first image clipping in the modified position, that is, for example, columns of pixels are missing in the horizontal direction perpendicular to the longitudinal axis of the vehicle. Thus, the driver can even better assess the vehicle environment on the side of the vehicle on which the vision system is mounted, because at least a part of the vehicle can be perceived in a compressed manner in the reproduction unit.

Preferably, the processing unit is adapted to receive signals for describing the angular relationship between the traction unit and the trailer from signaling equipment mounted on the vehicle. Depending on the control signal, the processing unit takes, from the viewing area of the sensor, a first and / or second image crop in a first and / or second position modified or not. In this regard, the signaling equipment may be adapted to generate a manual control signal, whereby the driver can request a different image clipping shot of the field of vision depending on the driving situation if he can no longer see from the environment around the vehicle reliably. Additionally or alternatively, the signaling equipment may contain a vehicle sensor, which is adapted to generate the control signal. The signaling equipment for generating a manual control signal may comprise a door control panel, a panel / touch screen, an instrument panel, etc. The vehicle sensor may comprise equipment for determining a steering angle and / or an articulation angle of the trailer, a position of the wheel, a speed sensor, an ABS sensor, a device image evaluation, etc. In particular, any sensor that can generate a signal to determine the orientation of the trailer relative to the tractor is suitable.

Preferably, the processing unit continuously adapts the first and second image clipping in the first or second modified position based on the control signal to the operating situation of the vehicle, namely over the entire viewing area, for example , the entire wide-angle field of view, so that the driver can see at any time the environment around the vehicle, in particular the trailer, and the operational safety of the vehicle is increased by means of the representation adapted to the driving situation (the so-called trailer panning / trailer tracking). In other words, the at least one (shifted) image clipping followed, in the case of dynamic tracking, can assume endless positions during vehicle operation.

In this regard, the operating situation may be a curved drive (forward or backward).

According to a further aspect, the present invention features a vision system arrangement having two vision systems as described above. The two vision systems can be mounted on the left and right outer side of a driver's cab of a vehicle and can be configured in such a way that inverted laterally with respect to each other. The processing units of the two vision systems can communicate with each other in such a way that they exchange data. For example, the processing units of individual vision systems can exchange image / video data or control commands. The data exchange takes place preferably via a wired connection of the vehicle's own bus system (CAN bus). However, other types of data transmission between the processing units are also conceivable, such as, for example, via Bluetooth or WLAN. Depending on the data exchanged, in the case of trailer bypass, the two vision systems can move the first image crop and / or the second image crop from the original first or second position to a first or second position. modified, or only one of the two vision systems can move at least one of the original image clippings to a modified position, while the remaining image clippings remain in their respective original position. An exchange of data between the two vision systems has the advantage that the algorithms on which the data processing or editing is based runs more stable. For example, by means of a data exchange between two vehicle-mounted vision systems, it can be verified whether the signals received by the individual vision systems from the signaling equipment are correct by comparing the signals with the signals received from the signals. two vision systems (correction algorithm).

According to a further aspect, the present invention presents a mirror replacement system for a vehicle, in particular a utility vehicle with a traction and trailer unit, a vision system that is designed as described above, or a system arrangement vision with two vision systems as described above.

The invention is described below by way of example by means of the attached figures, with the same components designating the same reference numerals. They show:

FIG. 1a two vision systems according to the invention for a vehicle,

figure 1b two vision systems according to the invention for a vehicle according to an alternative embodiment,

figure 2 a top view of a vehicle with a traction and trailer unit in an arrangement aligned with each other and a first image clipping and a second image clipping in an original position,

FIG. 3 a viewing area of an image recording unit with the first image clipping and the second image clipping in the original position of FIG. 2,

FIG. 4 a reproduction unit that reproduces the first image clipping and the second image clipping in the original position of FIGS. 2 and 3,

Figure 5 a top view of a vehicle with a traction and trailer unit in an arrangement at an angle to each other and a first image clipping in a modified position and the second image clipping in the original position of Figure 2,

FIG. 6 a viewing area of the image recording unit with the first image clipping in the modified position of FIG. 5 and the second image clipping in the original position of FIG. 2,

FIG. 7 a reproduction unit reproducing the first image clipping in the modified position of FIG. 5 and the second image clipping in the original position of FIG. 2,

figure 8 a reproduction unit showing a first image clipping and a second image clipping schematically by means of a modulation transfer function, figure 9 a top view of a vehicle with a traction and trailer unit in a arrangement at an angle to one another and a vision system arrangement according to the invention with a vision system arranged to the left and to the right of the vehicle,

Figure 10 a viewing area of the left vision system,

Figure 11 a viewing area of the right vision system,

Fig. 12 a left reproducing unit showing a left vehicle environment, and Fig. 13 a right reproducing unit showing a right vehicle environment.

Figure 1a shows two vision systems 100 that can be mounted in each case to the left and to the right on an outer side of a driver's cab of a vehicle, in particular a commercial vehicle, such as a truck. Each vision system 100 has an image registration unit 10, which has two cameras 11 each with an image sensor 12. Alternatively, the image registration unit 100 can also have more than two cameras 11 and / or each camera 11 may have more than one image sensor 12. Apart from that, each vision system 100 has a processing unit 20 and a reproduction unit 30. The processing unit 20 is coupled to the image recording unit 10 and the reproduction unit 30. At times, each processing unit 20 may be coupled to additional system components (see dashed lines).

The image recording unit 10 is adapted to record images of the environment of a vehicle in the form of image data, for example video data. The processing unit 20 processes or edits the data of image recorded by the image registration unit, such that they can be reproduced by the reproduction unit 30. In particular, the processing unit edits the image data in such a way that the first image cropping, in the case of The representation in the reproduction unit 30 always has a higher resolution than the second image clipping, in the case of the representation in the reproduction unit 30 (for example, through a suitable scale of the first and second image clipping). image). Additionally, the processing unit 20 can also output and receive control signals, for example, to or from the image recording unit 10 and / or the reproduction unit 30.

An alternative embodiment of a vision system 200 according to the invention is shown in Figure 1b. Unlike the vision system 100 shown in figure 1a, the vision system 200 shown in figure 1b has only one camera 11 with an image sensor 12. The camera 11 can have a single or several image sensors 12 and is adapted to record an area of view around the vehicle, containing both a main field of view and a wide-angle field of view (as defined, for example, in ECE R46).

Figure 2 shows a top view of a vehicle 1 with a traction unit 2 and a trailer 3. In the case of the driving situation represented in figure 2, the traction unit 2 and the trailer 3 are fundamentally aligned in the longitudinal direction of the vehicle 1, such as in the case of straight-line driving or straight-line reversing (see dot-dot line in figure 2). In this regard, the term "fundamentally aligned" encompasses small steering angles that do not require tracking of image clipping.

Figure 3 shows the registration area or viewing area 40 of the image sensor 12 of the image registration unit in the case of the driving situation shown in Figure 2, that is to say, straight-line or in-line traffic. reverse in a straight line. As can be seen in figure 3, the camera 11 of the vision systems 100, 200 is adapted to register a single common vision area 40, which corresponds to the sensor surface in which the environment around the vehicle 1 is recorded. By a single common viewing area is meant an area of view that contains both a main field of view and a wide-angle field of view (as defined, for example, in ECE R46). That is to say. the single camera records a single viewing area. In the case of a single camera 11 with several image sensors 12, the common viewing area 40 is generated through suitable calculation software , which combines the images from the cameras 11 to form a common viewing area 40. In the case of a single camera 11 with a single image sensor 12, the viewing area 40 is generated through a lens arrangement suitable as an optical element, so that the really contradictory requirements, such as, for example , a wide-angle projection, that is, a projection with a wide image angle, and a high-resolution projection that is essentially distortion-free or low-distortion, such as, for example, a projection of the main field of view, are can achieve at the same time for the desired field of view.

Viewing area 40 contains a first image clipping 410, which in turn contains a legally prescribed main field of view 411. Apart from that, viewing area 40 contains a second image clipping 420, which in turn contains a Legally prescribed wide-angle field of view 421. The requirements for the main field of view and the legally prescribed wide-angle field of view are defined, for example, in ECE R46. As can be deduced from FIG. 3, the second image clipping 420 comprises both the legally prescribed wide-angle field of view 421, the first image clipping 410 and the legally prescribed wide-angle field of view 421, as well as a part of a traction unit 2 and a trailer 3 of the vehicle 1. The first image clipping 410 is in the driving situation represented in figure 3, that is, in the case of traction unit 2 and trailer 3 aligned in the longitudinal direction, in a first original position A. The second image clipping 410 is, in the case of a driving situation represented in FIG. 3, in a second original position B.

The first image crop 410 and the legally prescribed main field of view 411 contained therein, as well as the second image crop 420 and the legally prescribed wide-angle field of view 421 contained therein can also be viewed in the top view of figure 2.

Fig. 4 shows a reproduction unit 30 which has a rectangular shape with a longer extension in an up-down direction than in a width direction in Fig. 4 and has a first display area 31 and a second display area 32 In the vehicle mounted state 1 of the reproduction unit 30, the first display area 31 is located above the second display area 32 and occupies about 2/3 of the entire display area of the reproduction unit 30. Thus, in the vehicle-mounted state 1 of the reproduction unit 30, the second display area 32 lies below the first display area 31 and, correspondingly, occupies about 1/3 of the entire surface. display of the reproduction unit 30. The first image clipping 410, containing the legally prescribed main field of view 411, is reproduced in the first viewing area ization 31. The second image clipping 420, containing the legally prescribed wide-angle field of view 421, is reproduced in the second viewing area 32. More precisely, the first image clipping 410 in the original position A corresponds to the The first display area 31 and the second image crop 420 in the original position B correspond to the second display area 32.

As shown in FIG. 3, the second image clipping 420 in the case of recording through the image recording unit 10 is larger than the first image clipping 410 in the case of recording through the recording unit. image registration 10. However, unlike this, the first image clipping 410 in the case of a representation on the reproduction unit 30 is larger than the second image clipping 420 in the case of a representation on the unit. for this, the second image crop 420 during registration is changed or resized by the processing unit 20 relative to the first image crop 410 during registration such that it is smaller than image cropping 410 during its playback. By reducing the size, the resolution of the second image clipping 420 is also decreased. The size of the first image clipping 410 can be either maintained or reduced to a lesser extent than the second image clipping 420. Provided they are met the minimum requirements for resolution, the first 410 image crop can also be enlarged. Thus, it is ensured that the first image clipping 410 during rendering on the reproduction unit 30 always has a higher resolution than the second image clipping 420 during rendering on the reproduction unit 30.

As shown in figure 4, the driver sees in the first display area 31 a part of the traction unit 2 and the trailing edge of the trailer 3 (with a reference point P at the trailing edge of the trailer 3) and so on You can reliably assess the environment around the vehicle, particularly the trailer.

If the trailer 3 of the vehicle 1 begins to move out of the arrangement, aligned in the longitudinal direction with the traction unit 2, during a driving maneuver, such as, for example, a cornering or a turning process, towards Angle arrangement relative to the drive unit, the first image clipping 410 is moved by the processing unit 20 such that the reference point P can be seen as before in the first image clipping. So that the processing unit 20 does not start to shift the first image clipping 410 in the case of small steering movements by the driver, which are usually accompanied by driving in a straight line or reversing in a straight line, for example To maintain the position in the rail, the first image clipping 410 is shifted by means of the processing unit 20 only from a certain firmly defined angle between the trailer 3 and the traction unit 2. Alternatively or additionally, it is also conceivable that the processing unit 20 begins to shift the first image clipping 410 with a certain fixed time delay defined, that is, if the trailer 3 and the traction unit 2 have not adopted the orientation aligned with each other even after a certain period of time has elapsed.

Figure 5 shows a top view of the vehicle 1, in which the traction unit 2 and the trailer 3 are no longer aligned in the longitudinal direction of the vehicle 1, but are arranged at an angle to each other, as in case of a cornering or a turning process of the vehicle 1. More precisely, the trailer 3 is arranged at an angle a with respect to the traction unit 2. Preferably, a shift of a corresponding image crop does not start before reaching a certain angle a, such as, for example, not earlier than> 30 °, preferably> 20 °, more preferably> 10 ° and even more preferably> 5 °.

Figure 6 shows the recording area or viewing area 40 of the image sensor 11 of the image recording unit 10 in the case of the driving situation shown in Figure 5, that is, in the case of a gear. curving or turning process. As in Figure 3, the viewing area 40 presents the first image clipping 410 and the second image clipping 420. However, in the case of the driving situation on which Figure 6 is based, that is, in In the case of a cornering or turning process, the first image clipping 410 is in a first modified position A ', while the second image clipping 410 is located as before in the second original position B. In other words, the first image clipping 410 in the case of the driving situation on which Figure 6 is based is taken from the processing unit 20 at a different location in the viewing area 40 or is continuously shifted towards this different location taking a plurality of intermediate positions than in the case of the driving situation on which figure 3 is based. More precisely, in figure 6 it can be seen that the first image clipping 410 has been taken from the area of vision 40 in one position on A 'so that the first image clipping 410 contains the trailing edge of the trailer 3 and thus the reference point P. The reference point P enables the driver to classify the trailer 3 in its environment and to evaluate the size of the angle a between the traction unit 2 and the trailer 3. The first image cutout 410 shown in Figure 6 no longer contains the legally prescribed main field of view 411 at position A ', but only the second image cutout 411. Image 420, which is also in the original position B in the case of the driving situation on which Figure 6 is based, still contains the legally prescribed wide-angle field of view 412.

Figure 7 shows the reproduction unit 30 described in Figure 4 with the first display area 31 and the second display area 32. As also shown in Figure 4, in Figure 7 the first display area 31 is located in the vehicle-mounted state 1 above the second display area 32 and occupies approximately 2/3 of the entire display surface of the reproduction unit 30, and the second display area 32 correspondingly occupies approximately 1 / 3 of the entire display surface of the reproduction unit 30 below the first display area 31. Unlike the reproduction unit 30 shown in FIG. 4, in the case of the reproduction unit 30 shown in FIG. 7, the first image crop 410 is reproduced in the modified position A ', but not the main field of view legally 411. As in Figure 4, the second image clipping 420, containing the legally prescribed main field of view 421, is reproduced in the second viewing area 32. More precisely, the first image clipping 410 in the modified position A 'corresponds to the first display area 31 and the second image crop 420 corresponds to the second display area 32.

It is also conceivable that only the second image clipping 420 is shifted or that the two image clipping 410, 420 are shifted. Regardless of which of the image clipping 410, 420 shifts and how much it shifts, it must always be ensured that the The first image crop 410 is displayed on the reproduction unit 30 with a higher resolution than the second image crop 420. This can be done, as described above, by means of the appropriate scale of the first and / or the second Image crop 410, 420.

The processing unit 20 preferably receives a control signal from signaling equipment (not shown) to indicate to the processing unit 20 that the trailer 3 is moving from the aligned arrangement relative to the traction unit 2 towards the angle arrangement. . The signaling equipment may be a signaling equipment that can be operated manually by the driver, such as a touch panel / touch screen, a door control panel, etc. If the driver realizes that he no longer sees the surroundings around the vehicle, in particular around the trailer, and thus a reference point relevant to him and previously established in advance, he can therefore signal by means of a manual input of the processing unit 20, correspondingly shifting the image clipping 410, 420 in question, so that it again sees the surroundings around the trailer and the reference point. In this case, the driver specifies the scope of the shift. Alternatively or additionally, the signaling equipment may be automatic signaling equipment, such as a steering angle sensor, a position sensor, etc. The automatic signaling equipment constantly detects whether the trailer 3 is still in an aligned arrangement with respect to the traction unit 2. As soon as the automatic signaling equipment determines an angle arrangement between the trailer 3 and the traction unit 2, it emits a signal to the processing unit 20, which also contains information about the size of the angle between the trailer 3 and the traction unit 2, so that the processing unit 20 can shift the image clipping 410, 420 corresponding to a position A 'or you can take it from the viewing area 40 in a position A', which enables the driver to see the reference point P on the trailer 3.

Figure 8 shows a reproduction unit 30 with a first and a second display area 31, 32, as already described with respect to Figures 4 and 7. In the first display area 31, a field of display is schematically reproduced. main view using a grid of lines (shades of gray reproduced by short strands running in the right-left direction in figure 8 on the black lines), such as in the case of a modulation transfer function ( Modulation Transfer Function, MTF), The grid of lines represents the contrast of the object. In the second display area 32 a wide-angle field of view is schematically reproduced by a grid of lines. A measurement interval Y is defined in the two line grids, which always comprises four lines. Within the measuring range Y, a measuring value X is defined in each case, which has an identical quantity for the representation of the main field of view and the representation of the wide-angle field of view. In the case of the grid of lines shown in the first display area 31 for a main field of view, the measurement value X corresponds to the width of one line, while in the case of the grid of lines shown in the second display area 32 for a wide-angle field of view, the measurement value X corresponds to the width of four lines and thus to the measurement range Y. The lines of both the line grid of the main field of view in the display area 31 and the wide-angle field of view in the display area 32 run from top to bottom in the image plane of FIG. 8 and have fixed distances.

The modulation transfer function MTF is an evaluation criterion for inconsistent projections. More precisely, the modulation transfer function is a measure of the sharpness or contrast of the projection and is defined as the ratio of the image contrast to the object contrast or the ratio of the actual image contrast to the image contrast. ideal.

On the right next to the representation of the main field of view and the representation of the wide-angle field of view, the respective line grid is projected in a sinusoidal image modulation. Sinusoidal image modulation represents image contrast. As can be deduced from the sinusoidal image modulations assigned in each case to the main field of view or to the wide-angle field of view, the ratio of the image contrast to the object contrast in the case of the main field of view is higher. (high amplitude with low wavelength) than in the case of the wide-angle field of view (low amplitude with long wavelength). Therefore, the measurement value X in the case of sinusoidal image modulation of the main field of view comprises an extension of exactly half a wavelength, while the measurement value X in the case of modulation of The sinusoidal image of the wide-angle field of view comprises exactly two wavelengths. Therefore, the distance between the pairs of lines in the grid of lines of the main field of view is less than the distance between the pairs of lines of the grid of lines of the wide-angle field of view, which is why the field The main view always has a higher resolution than the wide-angle field of view.

The modulation transfer function shown in Figure 8 is one of many ways to describe either defining the resolution of an image and is herein the preferred type of description. However, other types of resolution are obviously also conceivable, such as, for example, the display of pixels per defined projection area.

Figure 9 shows, like Figure 5, a top view of the vehicle 1, in which the traction unit 2 and the trailer 3 are no longer aligned in the longitudinal direction of the vehicle 1, but are arranged at an angle to the relative to each other, as in the case of a cornering or a turning process of the vehicle 1. More precisely, the trailer 3 is arranged at an angle a with respect to the traction unit 2. Apart from that, in the case of the embodiment shown in figure 9, a vision system 100L is arranged on an outer side of the drive unit 2 on the left in the main driving direction and a vision system 100R is arranged on an outer side drive unit 2 to the right in the main driving direction. The vision systems 100L, 100R correspond to the vision system 100, but can also correspond to the vision system 200. The two vision systems 100L, 100R are configured in such a way that they can exchange data with each other, such as, for example, image data, control commands, etc.

The vision system 100L registers a vision area 40L of the surroundings on a left side of the vehicle 1 in the main driving direction. Viewing area 40L contains 420L wide-angle field of view and 410L main field of view. The vision system 100R registers a vision area 40R of the environment on a right side of the vehicle I in the main driving direction. Viewing area 40R contains 420R wide-angle field of view and 410r main field of view.

Figure 10 shows the registration area or viewing area 40L of the image sensor of the vision system 100L in the case of the driving situation shown in Figure 9, that is, in the case of a cornering or a cornering. turning process. As shown in FIG. 9, the viewing area 40L exhibits the first image clipping 410L and the second image clipping 420L. However, in the case of the driving situation on which Figure 10 is based, that is, in the case of a cornering or a turning process, the first image clipping 410L is in a first modified position A2 ', while the second image crop 420L is in a second original position B2. In other words, the first image clipping 410L in the case of the driving situation on which Figure 10 is based has been taken from the vision system processing unit 100L at a different location in the viewing area 40L or it has continuously moved relative to this other location A2 'through taking a plurality of intermediate positions than in the case of a driving situation in which the traction unit 2 and the trailer 3 are fundamentally aligned. More precisely, in figure 10 it can be seen that the first image clipping 410L has been taken from the viewing area 40l at a position A2 'such that the first image clipping 410L is a part of a front surface 4 of the trailer 3 (the surface of the trailer that is oriented in a fundamentally aligned arrangement on the traction unit 2) and contains a reference point P2. At present, the reference point P2 is positioned approximately in the center at an edge of the front surface 4 on the left in the main running direction, but it may also be positioned at any other location on the front surface 4. The point reference P2 enables the driver to classify the trailer 3 in its left environment and an evaluation of the size of the angle a between the traction unit 2 and the trailer 3. As in the previously described embodiments, the first image cut-out 410L shown in figure 10 it no longer contains a main field of view (not marked) in position A2 ', but only the second image clipping 420L, which is also still in the original position B2 in the case of the driving situation in which Figure 10 still contains a wide angle field of view (not marked).

Figure 11 shows the registration area or viewing area 40R of the image sensor of the vision system 100R in the case of the driving situation shown in Figure 9, that is, in the case of a cornering or a cornering. turning process. As shown in FIG. 9, the viewing area 40R exhibits the first image crop 410R and the second image crop 420R. However, in the case of the driving situation on which Figure 11 is based, that is, in the case of a cornering or a turning process, the first image clipping 410R is in a first modified position A1 ', while the second image crop 420R is in a second original position B1. In other words, the first image crop 410R in the case of the driving situation on which Figure 11 is based has been taken from the vision system processing unit 100R at a different location in the viewing area 40R or it has been continuously displaced relative to this other location A1 'through taking a plurality of intermediate positions than in the case of a driving situation in which the traction unit 2 and the trailer 3 are fundamentally aligned. More precisely, in figure II it can be seen that the first image clipping 410R has been taken from the viewing area 40r at a position A1 'such that the first image clipping 410R contains a part of a rear edge of the trailer 3 in the main direction of travel and a reference point P1. Herein, the reference point P1 is arranged at an upper corner of the rear edge, but it can also be positioned at any other location on the rear edge of the trailer 3 or at another reference position. The reference point P1 enables the driver to classify the trailer 3 in its right environment and an evaluation of the size of the angle a between the traction unit 2 and the trailer 3. As in the embodiments described above, the first image clipping 410R shown in figure 11 no longer contains a main (unmarked) field of view at position A1 ', but only the second image clipping 420R, which is also still in original position B1 in the case of the situation gear in which Figure 11 still contains a wide-angle field of view (not marked).

Fig. 12 shows a reproduction unit 30L that reproduces a left vehicle environment with a first display area 31L and a second display area 32L. The reproduction unit 30L corresponds to the reproduction unit 30 described above. In the case of the reproduction unit 30L shown in FIG. 12, the first image crop 410L at the modified position A2 'corresponds to the display area 31L and the second image crop 420L corresponds to the second image crop 420L at the position original B2.

Fig. 13 shows a reproduction unit 30R that reproduces an environment of the right vehicle with a first display area 31R and a second display area 32R. The reproduction unit 30R corresponds to the reproduction unit 30 described above. In the case of the reproduction unit 30R shown in Fig. 13, the first image crop 410R at the modified position A1 'corresponds to the display area 31R and the second image crop 420R corresponds to the second image crop 420R at the position original B1.

The left and right vehicle environment can also be represented in a common reproduction unit 30.

In the embodiment shown in Figures 9 to 13, both the left and right vision systems 100L, 100R shift the first image crop 410L, 410R in such a way that, even in the case of bypass of the trailer 3 relatively to drive unit 2, the driver can see in each case the surroundings on the left and right sides around the vehicle. However, it is also conceivable that only the first left image crop 410L or the first right image crop 410R is shifted or three of the first and second image clippings 410L, 410R, 420L, 420R are shifted or all of the firsts are shifted. and second image clipping 410L, 410R, 420L, 420R.

It is explicitly emphasized that all features disclosed in the description and / or claims should be considered separate and independent of each other for the purpose of the original disclosure, as well as for the purpose of restricting the claimed invention, regardless of the combinations of features in the embodiments and / or claims. It is explicitly stated that all indications of area or indications of groups of units disclose all possible intermediate values or subgroups of units for the purpose of the original disclosure, as well as for the purpose of restricting the claimed invention, in particular also as a limit. of an area indication.

List of references

1 Vehicle

2 Traction unit

3 Trailer

4 Front surface of trailer

10 Image Registration Unit

11 Camera

12 Image Sensor

20 Processing unit

30, 30L, 30R Playback unit

31, 31L, 31R First display area

32, 31L, 32R Second display area

40, 40L, 40R Viewing area

410, 410L, 410R First Image Crop

411 First legally prescribed field of view, primary field of view

420, 420L, 420R Second Image Crop

421 Legally prescribed second field of view, wide-angle field of view 100, 100L, 100R, 200 Vision system

A, A1, A2 Original first position

A ', A1', A2 'First position modified

B, B1, B2 Original second position

P, P1, P2 Reference point

a Angle between traction unit and trailer

X MTF measurement value

Y MTF measuring range

Claims (14)

1. Vision system (100, 200) for a vehicle (1) with a traction unit (2) and a trailer (3), containing: a recording unit (10) with at least one image sensor (12) for recording a viewing area (40) around the vehicle in the form of image data, the recording unit (10) being mountable on the traction unit (2), at least one processing unit (20) for processing the image data recorded by the recording unit (10), and at least one reproduction unit (30) for reproducing at least a first image clipping (410) and a second image clipping (420) of the viewing area (40) registered by the recording unit (10), wherein, if the traction unit (2) and the trailer (3) are fundamentally aligned with each other in the longitudinal direction of the vehicle (1), the processing unit (20) takes, from the viewing area (40) from the to minus one image sensor (12), the first image crop (410) in a first original position (A) and the second image crop (420) in a second original position (B), and wherein, if the traction unit (2) and the trailer (3) are arranged at an angle fundamentally not equal to 0 ° relative to each other, the processing unit (20) takes, from the viewing area (40) of the at least one image sensor (12), the first image crop (410) in a first modified position (A ') and / or the second image crop (420) in a second modified position, and the resolution of the first image clipping (410) in the original position (A) and in the modified position (A ') in the reproduction unit (30) being greater than the resolution of the second image clipping (420) at the position original (B) and in the modified position in the reproduction unit (30), the image recording unit (10) presenting a single camera (11), the only camera (11) presenting a single image sensor (12) . Vision system (100, 200) according to claim 1, the first image clipping (410) containing a main field of view and / or the second image clipping (420) containing a wide-angle field of view, containing the main field of view preferably a first legally prescribed field of view (411) and / or the wide-angle field of view containing a second legally prescribed field of view (421). Vision system (100, 200) according to one of the preceding claims, the first image clipping (410) being positioned and oriented in the viewing area (40) of the image sensor (12) in such a way that it projects a part of the traction unit (2) in the first original position (A), and / or presenting the first image crop (410) in the original position (A) and the first image crop (410) in the modified position (A ') a reference point (P) of the trailer, the reference point (P) being preferably within the first image clipping (410) in the first original position (A) and in the first modified position (A') at the same location as the first image crop (410). Vision system (100, 200) according to one of the preceding claims, in which the first image clipping (410) and the second image clipping (420) partially overlap on the image sensor (12). Vision system (100, 200) according to one of the preceding claims, the reproduction unit (30) presenting a first display area (31) defined to reproduce the first image crop (410) in the first original position ( A) and a second display area (32) defined to reproduce the second image clipping (420) in the second original position (B), preferably the ratio of the size of the first display area (31) defined with respect to the size of the second defined display area (32). Vision system (100, 200) according to one of the preceding claims, the area projecting through the first image clipping (410) and / or the second image clipping (420) being arranged in the modified position ( A ') closer to or further from the traction unit (2) than the area that is projected through the first image crop (410) and / or the second image crop (420) at the original position (A , B). Vision system (100, 200) according to claim 5 or 6, the size of the first image crop (410) and / or the size of the second image crop (420) in the modified position (A ') being equal to the size of the first image crop (410) and / or to the size of the second image crop (420) in the original position (A, B). Vision system (100, 200) according to claim 6, the aspect ratio of the first image crop (410) and / or the aspect ratio of the second image crop (420) being in the modified position (A ' ) equal to the aspect ratio of the first image crop (410) and / or the aspect ratio of the second image crop (420) at the original position (A, B). Vision system (100, 200) according to claim 5, the first display area (31) being adapted to reproduce the first image crop (410) at the same time in the original and the modified position, and the second display area (32) for reproducing the second image clipping (420), the first image clipping (410) presenting in the original position preferably a scale that changes in the horizontal direction perpendicular to the longitudinal axis of the vehicle that the first image crop (410) in the modified position. Vision system (100, 200) according to one of the preceding claims, the processing unit (20) being adapted to receive signals for describing the angular relationship between the traction unit (2) and the trailer (3) of a signaling equipment mounted on the vehicle (1) and to extract or not the first image clipping (410) and / or the second image clipping (420) based on the control signal in the first and / or second modified position , the signaling equipment being preferably adapted to generate a manual control signal, and / or the signaling equipment containing a vehicle sensor, which is adapted for generating the control signal. Vision system (100, 200) according to one of the preceding claims, in which the processing unit (20) adapts the first and second image cropping (410, 420), in the first or second modified position ( A ') based on the control signal, continuously to the operating situation of the vehicle (1). Vision system (100, 200) according to claim 11, the operating situation being a curved gear. Vision system arrangement with two vision systems (100L, 100R) according to one of claims 1 to 12, the processing units (20) of the two vision systems (100L, 100R) being adapted to exchange data. Mirror replacement system for a vehicle with a vision system (100, 200) according to one of claims 1 to 12 or with a vision system arrangement according to claim 13.